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<div class="title">pcd_grabber.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
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<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_config.h&gt;</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_IO_PCD_GRABBER_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_IO_PCD_GRABBER_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/common/io.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/io/grabber.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/io/file_grabber.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/common/time_trigger.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/conversions.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#ifdef HAVE_OPENNI</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;pcl/io/openni_camera/openni_image.h&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;pcl/io/openni_camera/openni_image_rgb24.h&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#include &lt;pcl/io/openni_camera/openni_depth_image.h&gt;</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;{</div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_grabber_base.html">   62</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_p_c_d_grabber_base.html">PCDGrabberBase</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_grabber.html">Grabber</a></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">public</span>:   </div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_grabber_base.html#a6cccea44cb6cfc0935abc80d453aa70a">   70</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_grabber_base.html#a6cccea44cb6cfc0935abc80d453aa70a">PCDGrabberBase</a> (<span class="keyword">const</span> std::string&amp; pcd_file, <span class="keywordtype">float</span> frames_per_second, <span class="keywordtype">bool</span> repeat);</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_grabber_base.html#aa6806e985294aa87ccfd4414b6ab666d">   77</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_grabber_base.html#aa6806e985294aa87ccfd4414b6ab666d">PCDGrabberBase</a> (<span class="keyword">const</span> std::vector&lt;std::string&gt;&amp; pcd_files, <span class="keywordtype">float</span> frames_per_second, <span class="keywordtype">bool</span> repeat);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_grabber_base.html#a9578e7d81ec13e8b4b8b7a00f3155d80">   82</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_grabber_base.html#a9578e7d81ec13e8b4b8b7a00f3155d80">PCDGrabberBase</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_p_c_d_grabber_base.html">PCDGrabberBase</a> &amp;src) : <a class="code" href="classpcl_1_1_grabber.html">Grabber</a> (), impl_ ()</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      {</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        *<span class="keyword">this</span> = src;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      }</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_grabber_base.html">PCDGrabberBase</a>&amp;</div>
<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_grabber_base.html#aa53fb50359bc73a7b53d601cc9b346bf">   91</a></span>&#160;      operator = (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_p_c_d_grabber_base.html">PCDGrabberBase</a> &amp;src)</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      {</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        impl_ = src.impl_;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <span class="keywordflow">return</span> (*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      }</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_grabber_base.html#a5969e24bab8499fbc489e675a3394a0e">   98</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_p_c_d_grabber_base.html#a5969e24bab8499fbc489e675a3394a0e">~PCDGrabberBase</a> () throw ();</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      virtual <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_grabber_base.html#a1bcea1ceadaca0b4d0ab1b1d28b2bc70">  102</a></span>&#160;      start ();</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      virtual <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_grabber_base.html#ac4decd78c0fe3d3d1cce9a0b17d82791">  106</a></span>&#160;      stop ();</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      virtual <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_grabber_base.html#ad737f47689e2e2fa0a0426ae29318159">  110</a></span>&#160;      trigger ();</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      virtual <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_grabber_base.html#ab1dc2332f1796490031bb0e2161f06b8">  116</a></span>&#160;      isRunning () const;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      virtual std::<span class="keywordtype">string</span> </div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_grabber_base.html#ae42d82f143cf15137d3ea82f1de49f3a">  120</a></span>&#160;      getName () const;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      virtual <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_grabber_base.html#afa1f85dc6dd4f5929f88039e2388fa41">  124</a></span>&#160;      rewind ();</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      virtual <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_grabber_base.html#a0df16c5211c360b3eb1199a63f916746">  128</a></span>&#160;      getFramesPerSecond () const;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_grabber_base.html#aae5aaaa5b73c9aa65ddff98713ea89c3">  132</a></span>&#160;      isRepeatOn () const;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_grabber_base.html#a51c36bbcb4aeb898f5537659d129c01b">  136</a></span>&#160;      getCloudAt (<span class="keywordtype">size_t</span> idx, </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;                  pcl::<a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a> &amp;blob,</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;                  Eigen::Vector4f &amp;origin, </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;                  Eigen::Quaternionf &amp;orientation) const;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_grabber_base.html#ae47ab9034e2494de2dfe591573cf030a">  143</a></span>&#160;      numFrames () const;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    private:</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      virtual <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      publish (const pcl::<a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a>&amp; blob, const Eigen::Vector4f&amp; origin, const Eigen::Quaternionf&amp; orientation, const std::<span class="keywordtype">string</span>&amp; file_name) const = 0;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="comment">// to separate and hide the implementation from interface: PIMPL</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      struct PCDGrabberImpl;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      PCDGrabberImpl* impl_;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  };</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  template &lt;typename T&gt; class <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_grabber.html">  156</a></span>&#160;  template &lt;typename <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; class <a class="code" href="classpcl_1_1_p_c_d_grabber.html">PCDGrabber</a> : public <a class="code" href="classpcl_1_1_p_c_d_grabber_base.html">PCDGrabberBase</a>, public <a class="code" href="classpcl_1_1_file_grabber.html">FileGrabber</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  {</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_grabber.html">PCDGrabber</a> (<span class="keyword">const</span> std::string&amp; pcd_path, <span class="keywordtype">float</span> frames_per_second = 0, <span class="keywordtype">bool</span> repeat = <span class="keyword">false</span>);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_grabber.html">PCDGrabber</a> (<span class="keyword">const</span> std::vector&lt;std::string&gt;&amp; pcd_files, <span class="keywordtype">float</span> frames_per_second = 0, <span class="keywordtype">bool</span> repeat = <span class="keyword">false</span>);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      </div>
<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_grabber.html#a08d9af6a5adeae8dc2705494b4b6b719">  163</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_p_c_d_grabber.html#a08d9af6a5adeae8dc2705494b4b6b719">~PCDGrabber</a> () throw ()</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      {</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        stop ();</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      }</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="comment">// Inherited from FileGrabber</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="keyword">const</span> boost::shared_ptr&lt; const pcl::PointCloud&lt;PointT&gt; &gt;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      operator[] (<span class="keywordtype">size_t</span> idx) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="comment">// Inherited from FileGrabber</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      size () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      publish (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a>&amp; blob, <span class="keyword">const</span> Eigen::Vector4f&amp; origin, <span class="keyword">const</span> Eigen::Quaternionf&amp; orientation, <span class="keyword">const</span> std::string&amp; file_name) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      boost::signals2::signal&lt;void (<span class="keyword">const</span> boost::shared_ptr&lt;<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &gt;&amp;)&gt;* signal_;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      boost::signals2::signal&lt;void (<span class="keyword">const</span> std::string&amp;)&gt;* file_name_signal_;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;<span class="preprocessor">#ifdef HAVE_OPENNI</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      boost::signals2::signal&lt;void (<span class="keyword">const</span> boost::shared_ptr&lt;openni_wrapper::DepthImage&gt;&amp;)&gt;*     depth_image_signal_;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      boost::signals2::signal&lt;void (<span class="keyword">const</span> boost::shared_ptr&lt;openni_wrapper::Image&gt;&amp;)&gt;*     image_signal_;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      boost::signals2::signal&lt;void (<span class="keyword">const</span> boost::shared_ptr&lt;openni_wrapper::Image&gt;&amp;, <span class="keyword">const</span> boost::shared_ptr&lt;openni_wrapper::DepthImage&gt;&amp;, <span class="keywordtype">float</span> constant)&gt;*     image_depth_image_signal_;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  };</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  PCDGrabber&lt;PointT&gt;::PCDGrabber (<span class="keyword">const</span> std::string&amp; pcd_path, <span class="keywordtype">float</span> frames_per_second, <span class="keywordtype">bool</span> repeat)</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  : PCDGrabberBase (pcd_path, frames_per_second, repeat)</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  {</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    signal_ = createSignal&lt;void (<span class="keyword">const</span> boost::shared_ptr&lt;<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &gt;&amp;)&gt;();</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    file_name_signal_ = createSignal&lt;void (const std::string&amp;)&gt;();</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;<span class="preprocessor">#ifdef HAVE_OPENNI</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    depth_image_signal_ = createSignal &lt;void (<span class="keyword">const</span> boost::shared_ptr&lt;openni_wrapper::DepthImage&gt;&amp;)&gt; ();</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    image_signal_ = createSignal &lt;void (<span class="keyword">const</span> boost::shared_ptr&lt;openni_wrapper::Image&gt;&amp;)&gt; ();</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    image_depth_image_signal_ = createSignal &lt;void (<span class="keyword">const</span> boost::shared_ptr&lt;openni_wrapper::Image&gt;&amp;, <span class="keyword">const</span> boost::shared_ptr&lt;openni_wrapper::DepthImage&gt;&amp;, <span class="keywordtype">float</span> constant)&gt; ();</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  }</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  PCDGrabber&lt;PointT&gt;::PCDGrabber (<span class="keyword">const</span> std::vector&lt;std::string&gt;&amp; pcd_files, <span class="keywordtype">float</span> frames_per_second, <span class="keywordtype">bool</span> repeat)</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    : PCDGrabberBase (pcd_files, frames_per_second, repeat), signal_ ()</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  {</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    signal_ = createSignal&lt;void (<span class="keyword">const</span> boost::shared_ptr&lt;<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &gt;&amp;)&gt;();</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    file_name_signal_ = createSignal&lt;void (const std::string&amp;)&gt;();</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;<span class="preprocessor">#ifdef HAVE_OPENNI</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    depth_image_signal_ = createSignal &lt;void (<span class="keyword">const</span> boost::shared_ptr&lt;openni_wrapper::DepthImage&gt;&amp;)&gt; ();</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    image_signal_ = createSignal &lt;void (<span class="keyword">const</span> boost::shared_ptr&lt;openni_wrapper::Image&gt;&amp;)&gt; ();</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    image_depth_image_signal_ = createSignal &lt;void (<span class="keyword">const</span> boost::shared_ptr&lt;openni_wrapper::Image&gt;&amp;, <span class="keyword">const</span> boost::shared_ptr&lt;openni_wrapper::DepthImage&gt;&amp;, <span class="keywordtype">float</span> constant)&gt; ();</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  }</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">const</span> boost::shared_ptr&lt; const pcl::PointCloud&lt;PointT&gt; &gt;</div>
<div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_grabber.html#aaf050a6037b38ef740f3565d33965b1b">  220</a></span>&#160;  <a class="code" href="classpcl_1_1_p_c_d_grabber.html#aaf050a6037b38ef740f3565d33965b1b">PCDGrabber&lt;PointT&gt;::operator[] </a>(<span class="keywordtype">size_t</span> idx)<span class="keyword"> const</span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;<span class="keyword">  </span>{</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> blob;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    Eigen::Vector4f origin;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    Eigen::Quaternionf orientation;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    getCloudAt (idx, blob, origin, orientation);</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> ());</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    pcl::fromPCLPointCloud2 (blob, *cloud);</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a> = origin;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a> = orientation;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <span class="keywordflow">return</span> (cloud);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  }</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00235"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_grabber.html#adcc70b12839ffb939d724f75961c504f">  235</a></span>&#160;  <a class="code" href="classpcl_1_1_p_c_d_grabber.html#adcc70b12839ffb939d724f75961c504f">PCDGrabber&lt;PointT&gt;::size</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;<span class="keyword">  </span>{</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    <span class="keywordflow">return</span> (numFrames ());</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  }</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  <a class="code" href="classpcl_1_1_p_c_d_grabber.html">PCDGrabber&lt;PointT&gt;::publish</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a>&amp; blob, <span class="keyword">const</span> Eigen::Vector4f&amp; origin, <span class="keyword">const</span> Eigen::Quaternionf&amp; orientation, <span class="keyword">const</span> std::string&amp; file_name)<span class="keyword"> const</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;<span class="keyword">  </span>{</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> ());</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    pcl::fromPCLPointCloud2 (blob, *cloud);</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    cloud-&gt;sensor_origin_ = origin;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    cloud-&gt;sensor_orientation_ = orientation;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    signal_-&gt;operator () (cloud);</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    <span class="keywordflow">if</span> (file_name_signal_-&gt;num_slots() &gt; 0)</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        file_name_signal_-&gt;operator()(file_name);</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;<span class="preprocessor">#ifdef HAVE_OPENNI</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    <span class="comment">// If dataset is not organized, return</span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <span class="keywordflow">if</span> (!cloud-&gt;isOrganized ())</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    boost::shared_ptr&lt;xn::DepthMetaData&gt; depth_meta_data (<span class="keyword">new</span> xn::DepthMetaData);</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    depth_meta_data-&gt;AllocateData (cloud-&gt;width, cloud-&gt;height);</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    XnDepthPixel* depth_map = depth_meta_data-&gt;WritableData ();</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    uint32_t k = 0;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    <span class="keywordflow">for</span> (uint32_t i = 0; i &lt; cloud-&gt;height; ++i)</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      <span class="keywordflow">for</span> (uint32_t j = 0; j &lt; cloud-&gt;width; ++j)</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      {</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        depth_map[k] = <span class="keyword">static_cast&lt;</span>XnDepthPixel<span class="keyword">&gt;</span> ((*cloud)[k].z * 1000);</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        ++k;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      }</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    boost::shared_ptr&lt;openni_wrapper::DepthImage&gt; depth_image (<span class="keyword">new</span> openni_wrapper::DepthImage (depth_meta_data, 0.075f, 525, 0, 0));</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    <span class="keywordflow">if</span> (depth_image_signal_-&gt;num_slots() &gt; 0)</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      depth_image_signal_-&gt;operator()(depth_image);</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    <span class="comment">// ---[ RGB special case</span></div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    std::vector&lt;pcl::PCLPointField&gt; fields;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    <span class="keywordtype">int</span> rgba_index = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*cloud, <span class="stringliteral">&quot;rgb&quot;</span>, fields);</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    <span class="keywordflow">if</span> (rgba_index == -1)</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      rgba_index = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*cloud, <span class="stringliteral">&quot;rgba&quot;</span>, fields);</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    <span class="keywordflow">if</span> (rgba_index &gt;= 0)</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    {</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;      rgba_index = fields[rgba_index].offset;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160; </div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      boost::shared_ptr&lt;xn::ImageMetaData&gt; image_meta_data (<span class="keyword">new</span> xn::ImageMetaData);</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      image_meta_data-&gt;AllocateData (cloud-&gt;width, cloud-&gt;height, XN_PIXEL_FORMAT_RGB24);</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      XnRGB24Pixel* image_map = image_meta_data-&gt;WritableRGB24Data ();</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      k = 0;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      <span class="keywordflow">for</span> (uint32_t i = 0; i &lt; cloud-&gt;height; ++i)</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      {</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        <span class="keywordflow">for</span> (uint32_t j = 0; j &lt; cloud-&gt;width; ++j)</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;        {</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;          <span class="comment">// Fill r/g/b data, assuming that the order is BGRA</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;          <a class="code" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> rgb;</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;          memcpy (&amp;rgb, <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;cloud-&gt;points[k]) + rgba_index, sizeof (RGB));</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;          image_map[k].nRed = <span class="keyword">static_cast&lt;</span>XnUInt8<span class="keyword">&gt;</span> (rgb.r);</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;          image_map[k].nGreen = <span class="keyword">static_cast&lt;</span>XnUInt8<span class="keyword">&gt;</span> (rgb.g);</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;          image_map[k].nBlue = <span class="keyword">static_cast&lt;</span>XnUInt8<span class="keyword">&gt;</span> (rgb.b);</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;          ++k;</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;        }</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      }</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;      boost::shared_ptr&lt;openni_wrapper::Image&gt; image (<span class="keyword">new</span> openni_wrapper::ImageRGB24 (image_meta_data));</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      <span class="keywordflow">if</span> (image_signal_-&gt;num_slots() &gt; 0)</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        image_signal_-&gt;operator()(image);</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;      <span class="keywordflow">if</span> (image_depth_image_signal_-&gt;num_slots() &gt; 0)</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;        image_depth_image_signal_-&gt;operator()(image, depth_image, 1.0f / 525.0f);</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    }</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  }</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;}</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_file_grabber_html"><div class="ttname"><a href="classpcl_1_1_file_grabber.html">pcl::FileGrabber</a></div><div class="ttdoc">FileGrabber provides a container-style interface for grabbers which operate on fixed-size input</div><div class="ttdef"><b>Definition:</b> file_grabber.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_grabber_html"><div class="ttname"><a href="classpcl_1_1_grabber.html">pcl::Grabber</a></div><div class="ttdoc">Grabber interface for PCL 1.x device drivers</div><div class="ttdef"><b>Definition:</b> grabber.h:59</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_grabber_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_d_grabber_base.html">pcl::PCDGrabberBase</a></div><div class="ttdoc">Base class for PCD file grabber.</div><div class="ttdef"><b>Definition:</b> pcd_grabber.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_grabber_base_html_a5969e24bab8499fbc489e675a3394a0e"><div class="ttname"><a href="classpcl_1_1_p_c_d_grabber_base.html#a5969e24bab8499fbc489e675a3394a0e">pcl::PCDGrabberBase::~PCDGrabberBase</a></div><div class="ttdeci">virtual ~PCDGrabberBase()</div><div class="ttdoc">Virtual destructor.</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_grabber_base_html_a6cccea44cb6cfc0935abc80d453aa70a"><div class="ttname"><a href="classpcl_1_1_p_c_d_grabber_base.html#a6cccea44cb6cfc0935abc80d453aa70a">pcl::PCDGrabberBase::PCDGrabberBase</a></div><div class="ttdeci">PCDGrabberBase(const std::string &amp;pcd_file, float frames_per_second, bool repeat)</div><div class="ttdoc">Constructor taking just one PCD file or one TAR file containing multiple PCD files.</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_grabber_base_html_a9578e7d81ec13e8b4b8b7a00f3155d80"><div class="ttname"><a href="classpcl_1_1_p_c_d_grabber_base.html#a9578e7d81ec13e8b4b8b7a00f3155d80">pcl::PCDGrabberBase::PCDGrabberBase</a></div><div class="ttdeci">PCDGrabberBase(const PCDGrabberBase &amp;src)</div><div class="ttdoc">Copy constructor.</div><div class="ttdef"><b>Definition:</b> pcd_grabber.h:82</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_grabber_base_html_aa6806e985294aa87ccfd4414b6ab666d"><div class="ttname"><a href="classpcl_1_1_p_c_d_grabber_base.html#aa6806e985294aa87ccfd4414b6ab666d">pcl::PCDGrabberBase::PCDGrabberBase</a></div><div class="ttdeci">PCDGrabberBase(const std::vector&lt; std::string &gt; &amp;pcd_files, float frames_per_second, bool repeat)</div><div class="ttdoc">Constructor taking a list of paths to PCD files, that are played in the order they appear in the list...</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_grabber_html"><div class="ttname"><a href="classpcl_1_1_p_c_d_grabber.html">pcl::PCDGrabber</a></div><div class="ttdef"><b>Definition:</b> pcd_grabber.h:157</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_grabber_html_a08d9af6a5adeae8dc2705494b4b6b719"><div class="ttname"><a href="classpcl_1_1_p_c_d_grabber.html#a08d9af6a5adeae8dc2705494b4b6b719">pcl::PCDGrabber::~PCDGrabber</a></div><div class="ttdeci">virtual ~PCDGrabber()</div><div class="ttdoc">Virtual destructor.</div><div class="ttdef"><b>Definition:</b> pcd_grabber.h:163</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_grabber_html_aaf050a6037b38ef740f3565d33965b1b"><div class="ttname"><a href="classpcl_1_1_p_c_d_grabber.html#aaf050a6037b38ef740f3565d33965b1b">pcl::PCDGrabber::operator[]</a></div><div class="ttdeci">const boost::shared_ptr&lt; const pcl::PointCloud&lt; PointT &gt; &gt; operator[](size_t idx) const</div><div class="ttdoc">operator[] Returns the idx-th cloud in the dataset, without bounds checking. Note that in the future,...</div><div class="ttdef"><b>Definition:</b> pcd_grabber.h:220</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_grabber_html_adcc70b12839ffb939d724f75961c504f"><div class="ttname"><a href="classpcl_1_1_p_c_d_grabber.html#adcc70b12839ffb939d724f75961c504f">pcl::PCDGrabber::size</a></div><div class="ttdeci">size_t size() const</div><div class="ttdoc">size Returns the number of clouds currently loaded by the grabber</div><div class="ttdef"><b>Definition:</b> pcd_grabber.h:235</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a5de17e88bdf15e1c4fd1bcc6b85b1941"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">pcl::PointCloud::sensor_orientation_</a></div><div class="ttdeci">Eigen::Quaternionf sensor_orientation_</div><div class="ttdoc">Sensor acquisition pose (rotation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:423</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_aad7c2cd4b0d1c7f0fbc096276b5e2230"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">pcl::PointCloud::sensor_origin_</a></div><div class="ttdeci">Eigen::Vector4f sensor_origin_</div><div class="ttdoc">Sensor acquisition pose (origin/translation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:421</div></div>
<div class="ttc" id="agroup__common_html_ga2bc4b9a4e25de1d0b00db4e41f0ad682"><div class="ttname"><a href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a></div><div class="ttdeci">int getFieldIndex(const pcl::PCLPointCloud2 &amp;cloud, const std::string &amp;field_name)</div><div class="ttdoc">Get the index of a specified field (i.e., dimension/channel)</div><div class="ttdef"><b>Definition:</b> io.h:59</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a></div><div class="ttdef"><b>Definition:</b> PCLPointCloud2.h:21</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1_r_g_b_html"><div class="ttname"><a href="structpcl_1_1_r_g_b.html">pcl::RGB</a></div><div class="ttdoc">A structure representing RGB color information.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:334</div></div>
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